Interactive Martial Arts Training Unit

ABSTRACT

An interactive hitting pad for a martial arts trainer is provided which includes a base; a hitting pad platform having a hitting pad; and a plurality of linear actuators, wherein each of the linear actuators includes a first end and a second end, and wherein the first end of each of the linear actuators is articulatably connected to the base, and wherein the second end of each of the linear actuators is articulatably connected to the hitting pad platform, to form a parallel manipulator. A control system is connected to the plurality of linear actuators adapted to control the position and orientation of the hitting pad platform, and one or more sensors are operatively connected to the hitting pad platform and in communication with the control system for sensing impacts to the hitting pad by a user. A martial arts training system using the interactive hitting pad, as well as a method of training, are also provided.

CROSS-REFERENCE TO RELATED APPLICATIONS

This nonprovisional application claims the benefit of priority under 35 USC § 119 to U.S. Application No. 62/758,525, filed on Nov. 10, 2018.

BACKGROUND OF THE INVENTION 1. Field of the Invention

The present invention relates generally to martial arts training equipment, and particularly to training equipment having a plurality of hitting pads whose position and orientation are controlled by parallel manipulators, and operated by interactive features which enable the training system to respond to interactions by a user and to the user's progress during a training session.

2. Description of Related Art

Interactive martial arts training equipment are generally passive hitting units. In other words, the user or athlete strikes, through punches or kicks, one or more of several hitting pads which either remain static in response to the forces imparted, or which retract to a second position until they are reset by the user or returned to their first position automatically. While such passive training systems have been useful, those systems do not account for variances in the speed, force, angle of impact, and timing of hits on the various hitting pads. Passive training systems are also unable to adjust the shock absorption rate of the hitting pads in response to hits by the user. The following are patents which may be relevant to the subject matter claimed herein.

U.S. Pat. No. 4,976,582 describes a device for the movement and positioning of an element in space, sometimes referred to as a parallel manipulator, which includes a plurality of actuators to position and orient an end effector for product assembly, packing, or other industrial operations.

U.S. Pat. No. 5,715,729 describes another form of parallel manipulator used for machining under a heavy load.

U.S. Pat. No. 7,857,729 describes an automated striking and blocking trainer with quantitative feedback for martial arts training.

U.S. Pat. No. 8,337,366 describes a martial arts trainer that includes pads having impact sensors. The impact sensors can communicatively connect to a control unit, and the control unit may be communicatively connected to a display. The impact sensor detects strikes to the pad, and the impact sensor includes an accelerometer and a signal processor so that strike metrics can be recorded.

U.S. Pat. No. 9,744,420 describes a sport combat training machine which is connected to a computer, and in which the pads have impact sensors.

U.S. Pat. No. 9,849,362 describes a motorized machine that simulates martial arts sparring.

U.S. Patent Publication No. 20110111924A1 describes a boxing and martial arts fight, trainer, and game system. A integrated control unit of the device receives input from the impact sensors in response to each punch or kick, and directs next sequences displayed in the display, for example, by processing and display of informational content relative to punches and kicks.

U.S. Patent Publication No. 20110172060A1 describes an interactive system for reactive martial arts fitness training. The system includes an impact target having one or more impact sensors measuring workout performance data such as a position, direction, timing, velocity and force of impacts generated by a user. The training station also includes a reactive coach application which provides a workout routine for the user, receives workout performance data, and reactively modifies the workout routine based on the received workout data. The reactive coach application also reactively providing motivational feedback. This motivational feedback is dynamically adjusted to the effectiveness of the motivational feedback as measured by the user's compliance and/or improvement of the user's performance.

None of the above patents disclose or suggest the features as claimed herein. Therefore, there is a substantial need for a martial arts training system using linear actuators in a parallel manipulator configuration that can respond to different training styles, as well as the particular athleticism of the user and their progress during a training session. As described and claimed herein, the present invention resolves this need by providing a martial arts training device, system, and method which enable the user to maximize the benefits of the training session and progress more optimally, based on the interactive and customization features contained therein.

SUMMARY OF THE INVENTION

In a preferred embodiment, an interactive hitting pad for a martial arts trainer includes a base; a hitting pad platform having a hitting pad; and a plurality of linear actuators, wherein each of the linear actuators includes a first end and a second end, and wherein the first end of each of the linear actuators is articulatably connected to the base, and wherein the second end of each of the linear actuators is articulatably connected to the hitting pad platform, to form a parallel manipulator. A control system is connected to the plurality of linear actuators adapted to control the position and orientation of the hitting pad platform, and one or more sensors are operatively connected to the hitting pad platform and in communication with the control system for sensing impacts to the hitting pad by a user.

In a more preferred embodiment, the base includes a mount adapted to attach the device to a stationary frame, such as a frame for the martial arts training system or another solid surface.

In another embodiment, each of the linear actuators can be an electrically powered linear actuator, a pneumatically powered linear actuator, or a hydraulically powered linear actuator.

Preferably, each of the linear actuators includes a shock absorption rate adjustment controlled by the control system, which can be in communication with a remote electronic device, and wherein the remote electronic device is used to change operational parameters of the control system.

More preferably, the control system is in communication with an accelerometer, or gyroscope, or both, attached to the hitting pad platform to measure the forces and vibration imparted to the hitting pad by the user.

Optionally, the device further includes a safety override system in communication with the control system to prevent undesired contact between the user and the hitting pad, and wherein the safety override system includes a capacitive touch sensor. Further, the safety override system may be in communication with an accelerometer, or gyroscope, or both, to sense movement of the hitting pad.

In a simpler embodiment, the plurality of linear actuators includes at least three linear actuators, but in a more robust embodiment, the plurality of linear actuators includes at least six linear actuators.

In another embodiment, each of the linear actuators is articulatably connected between the base and the hitting pad platform by first and second universal joints.

In a more preferable embodiment, the position and orientation of the hitting pad platform, along with other operational parameters, may be adjusted through the control system in response to hits imparted to the hitting pad by the user.

The above and other objects and features of the present invention will become apparent from the drawings, the description given herein, and the appended claims.

BRIEF DESCRIPTION OF THE DRAWINGS

For a further understanding of the nature, objects, and advantages of the present invention, reference should be had to the following detailed description, read in conjunction with the following drawings, wherein like reference numerals denote like elements.

FIG. 1 depicts a preferred embodiment of the invention in the form of an interactive hitting pad device.

FIG. 2 is a detailed view of FIG. 1, particularly the base and an articulatable attachment of a linear actuator to the base.

FIG. 3 is a detailed view of FIG. 1, particularly the hitting platform and an articulatable attachment of a linear actuator to the hitting platform.

FIG. 4 is a preferred embodiment of a frame having multiple hitting pad devices installed on a frame.

DETAILED DESCRIPTION OF THE INVENTION

Before the subject invention is further described, it is to be understood that the invention is not limited to the particular embodiments of the invention described below, as variations of the particular embodiments may be made and still fall within the scope of the appended claims. It is also to be understood that the terminology employed is for the purpose of describing particular embodiments, and is not intended to be limiting. Instead, the scope of the present invention will be established by the appended claims.

In this specification and the appended claims, the singular forms “a,” “an,” and “the” include plural reference unless the context clearly dictates otherwise. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood to one of ordinary skill in the art to which this invention belongs.

Referring now to the figures, FIG. 1 depicts a preferred embodiment of an interactive hitting pad device for a martial arts training system, comprising a base 1 and a hitting pad platform 3 which may include a cushioned and shock absorbing hitting pad 14. The device includes a plurality of electrically powered linear actuators 2, six of which are shown in FIG. 1, wherein each of the linear actuators 2 includes a first end 11 and a second end 12. Each linear actuator 2 includes a shaft 2 f which is advanced and retracted within its base member 2 g, as driven by the controller 13 as described below. The first end 11 of each of the linear actuators 2 is articulatably connected to the base 1, and the second end 12 of each of the linear actuators 2 is articulatably connected to the hitting pad platform 3, to form a parallel manipulator, as explained below. The base 1 also includes a mount adapted to attach the device to a stationary frame, such as the overall main frame for the martial arts training system or another solid surface. In this manner, a complete martial arts training system would comprise two or more, and perhaps many, devices all attached to a main frame, allowing the user to strike hitting pads 14 in numerous positions and orientations.

A parallel manipulator is a mechanical system that uses computer-controlled serial chains to support a single platform, or end-effector, such as the hitting pad platform 3. A common type of parallel manipulator is formed from six linear actuators, such as seen in flight simulator systems and other types of industrial assembly and packing technologies. Also known as parallel robots, or generalized Stewart platforms, the actuators, such as linear actuators 2, are paired together on both the base 1 and the end effector or hitting pad platform 3. The hitting pad platform 3 is connected to the base 1 by a number of (usually three or six) separate and independent linear actuators 2 working simultaneously, or in “parallel” from a synchronization or processing standpoint (not from a geometric standpoint) to move the hitting pad platform 3 to the desired position and orientation.

As an alternative to the electrically powered linear actuators 2, the device may employ pneumatically powered linear actuators or hydraulically powered linear actuators.

A control system 13, which may be positioned in any convenient location such as on the base 1, is connected to the plurality of linear actuators 2 and designed and programmed to control the coordinated extension and retraction of the actuator shafts 2 f, and hence the position and orientation of the hitting pad platform 3.

One or more sensors 15 operatively connected to the hitting pad 14 or the hitting pad platform 3 are in communication with the control system 13 for sensing impacts to the hitting pad 14 by a user.

With reference to FIG. 2, which is a more detailed view of the base 1 and the first end 11 of a typical linear actuator 2, the articulatable connection between the base 1 and the first end 11 of the linear actuator 2 is shown as a lower universal joint 2 c. The lower universal joint 2 c is connected between a first mounting member 2 a on the base 1 and a second mounting member 2 b on the first end 11. Alternatively, a ball-type joint may also be used with similar functionality.

With reference to FIG. 3, which is a more detailed view of the hitting pad platform 3 and the second end 12 of the linear actuator 2, the articulatable connection between the hitting pad platform 3 and the second end 12 of the linear actuator 2 is shown as an upper universal joint 2 d. The upper universal joint 2 d is connected between an upper mounting member 2 e on the hitting pad platform 3 and the end of the actuator shaft 2 f by a threaded connection. As with the lower universal joint described above, a ball-type joint may alternatively be used with similar functionality.

As explained above, the parallel manipulator arrangement of linear actuators 2 is controlled by a control system 13, which includes a microcontroller for operating, controlling, and programming the system. The control system 13 can connect to remote electronic devices 16, such as smart phones and other mobile devices, via Bluetooth, Wi-Fi, or other wireless protocols. The connectivity to smart devices allows the user training on the unit as well as his/her supervising coach, to monitor the power, direction and time on target of each hit on the hitting pads 14. It will also allow the monitoring of the person's response time to hit and dodge hits from the machine. The remote electronic device 16 can also be used to change operational parameters of the control system 13. The control system 13 can include hardware, software, or a combination thereof such as a computer system, and it can include displays and input devices mounted on the martial arts trainer. The control system 13 can also be stored on a remote computer or device and use a wireless connection for operating the linear actuators 2.

The control system 13 uses the feedback from sensors 15, such as an accelerometer and/or gyroscope fixed to the hitting pad platform 3 to accurately position the hitting pad 14. An alternative to using the above mentioned solution is a linear displacement sensor on each linear actuator 2. The sensors 15 measure the forces and vibration imparted to the hitting pad 14 by the user. For example, the sensors 15 detect a hit, such as a user punching or kicking the hitting pad 14. The control system 13 can therefore cause the position and orientation of the hitting pad 14 to be changed when the hit is detected. The control system 13 can also collect and display feedback information such as biomechanical information and kinesiological information based on the hits and the user's motion while using the training system.

Importantly, each of the linear actuators 2 includes a shock absorption rate adjustment feature controlled by the control system 13. Thus, the position and orientation of the hitting pad platform 3 is adjusted in response to hits imparted to the hitting pad 14 by the user.

The device may further include a safety override system having a capacitive touch sensor in communication with the control system 13 to prevent undesired contact between the user and the hitting pad 14.

In conjunction with the martial arts training system itself, a method of training is also provided, comprising the steps of: (a) providing an interactive martial arts training system as described above, (b) defining an initial set of operational parameters in the control system 13, including the position, orientation, and shock absorption rate of each of the hitting pads 14, (c) causing the user to hit each of the hitting pads 14, and (d) adjusting the operational parameters of the control system 13 to match or respond to subsequent hits imparted by the user to each of the hitting pads 14. Such method may further comprise continuing to adjust the operational parameters of the control system 13 during a training session by a user in response to the progress of the user. As explained above, the step of adjusting the operational parameters may be accomplished by a remote electronic device 16 in communication with the control system 13.

The description and illustrations are by way of example only. While the description above makes reference to various embodiments, it should be understood that many changes and modifications can be made without departing from the scope of the disclosure. Many more embodiments and implementations are possible within the scope of this invention and will be apparent to those of ordinary skill in the art. The invention is not limited to the specific details, representative embodiments, and illustrated examples in this description.

All references cited in this specification are herein incorporated by reference as though each reference was specifically and individually indicated to be incorporated by reference. The citation of any reference is for its disclosure prior to the filing date and should not be construed as an admission that the present invention is not entitled to antedate such reference by virtue of prior invention.

It will be understood that each of the elements described above, or two or more together may also find a useful application in other types of methods differing from the type described above. Without further analysis, the foregoing will so fully reveal the gist of the present invention that others can, by applying current knowledge, readily adapt it for various applications without omitting features that, from the standpoint of prior art, fairly constitute essential characteristics of the generic or specific aspects of this invention set forth in the appended claims. 

I claim:
 1. An interactive hitting pad device for a martial arts training system, comprising: (a) a base; (b) a hitting pad platform having a hitting pad; (c) a plurality of linear actuators, each of the linear actuators having a first end and a second end, and wherein the first end of each of the linear actuators is articulatably connected to the base, and wherein the second end of each of the linear actuators is articulatably connected to the hitting pad platform, to form a parallel manipulator; (d) a control system connected to the plurality of linear actuators adapted to control the position and orientation of the hitting pad platform; and (e) one or more sensors operatively connected to the hitting pad platform and in communication with the control system for sensing impacts to the hitting pad by a user.
 2. The device of claim 1, wherein the base includes a mount adapted to attach the device to a stationary frame.
 3. The device of claim 1, wherein each of the linear actuators is an electrically powered linear actuator.
 4. The device of claim 1, wherein each of the linear actuators is a pneumatically powered linear actuator.
 5. The device of claim 1, wherein each of the linear actuators is a hydraulically powered linear actuator.
 6. The device of claim 1, wherein each of the linear actuators includes a shock absorption rate adjustment controlled by the control system.
 7. The device of claim 1, wherein the control system is in communication with a remote electronic device, and wherein the remote electronic device is used to change operational parameters of the control system.
 8. The device of claim 1, wherein the control system is in communication with an accelerometer, or gyroscope, or both, attached to the hitting pad platform to measure the forces and vibration imparted to the hitting pad by the user.
 9. The device of claim 1, further including a safety override system in communication with the control system to prevent undesired contact between the user and the hitting pad.
 10. The device of claim 9, wherein the safety override system includes a capacitive touch sensor.
 11. The device of claim 9, wherein the safety override system is in communication with an accelerometer, or gyroscope, or both, to sense movement of the hitting pad.
 12. The device of claim 1, wherein the plurality of linear actuators includes at least three linear actuators.
 13. The device of claim 1, wherein the plurality of linear actuators includes at least six linear actuators.
 14. The device of claim 1, wherein each of the linear actuators is articulatably connected between the base and the hitting pad platform by first and second universal joints.
 15. The device of claim 8, wherein the position and orientation of the hitting pad platform is adjusted in response to hits imparted to the hitting pad by the user.
 16. A martial arts training system, comprising: a frame having a plurality of parallel manipulators, wherein each parallel manipulator comprises: (i) a base attached to the frame; (ii) a hitting pad platform having a hitting pad; (iii) a plurality of linear actuators, each of the linear actuators having a first end and a second end, and wherein the first end of each of the linear actuators is articulatably connected to the base, and wherein the second end of each of the linear actuators is articulatably connected to the hitting pad platform, to form a parallel manipulator; (iv) a control system connected to the plurality of linear actuators adapted to control the position and orientation of the hitting pad platform; and (v) one or more sensors operatively connected to the hitting pad platform and in communication with the control system for sensing impacts to the hitting pad by a user.
 17. The device of claim 16, wherein each of the linear actuators is an electrically powered linear actuator.
 18. The device of claim 16, wherein each of the linear actuators is a pneumatically powered linear actuator.
 19. The device of claim 16, wherein each of the linear actuators is a hydraulically powered linear actuator.
 20. The device of claim 16, wherein each of the linear actuators includes a shock absorption rate adjustment controlled by the control system.
 21. The device of claim 16, wherein the control system is in communication with a remote electronic device, and wherein the remote electronic device is used to change operational parameters of the control system.
 22. The device of claim 16, wherein the control system is in communication with an accelerometer, or gyroscope, or both, attached to the hitting pad platform to measure the forces and vibration imparted to the hitting pad by the user.
 23. The device of claim 16, further including a safety override system in communication with the control system to prevent undesired contact between the user and the hitting pad.
 24. The device of claim 23, wherein the safety override system includes a capacitive touch sensor.
 25. The device of claim 23, wherein the safety override system is in communication with an accelerometer, or gyroscope, or both, to sense movement of the hitting pad.
 26. The device of claim 16, wherein the plurality of linear actuators includes at least three linear actuators.
 27. The device of claim 16, wherein the plurality of linear actuators includes at least six linear actuators.
 28. The device of claim 16, wherein each of the linear actuators is articulatably connected between the base and the hitting pad platform by first and second universal joints.
 29. The device of claim 22, wherein the position and orientation of the hitting pad platform is adjusted in response to hits imparted to the hitting pad by the user.
 30. A method of martial arts training, comprising the steps of: (a) providing an interactive martial arts training system, comprising: a frame having a plurality of parallel manipulators, wherein each parallel manipulator comprises: a base attached to the frame; a hitting pad platform having a hitting pad; a plurality of linear actuators, each of the linear actuators having a first end and a second end, and wherein the first end of each of the linear actuators is articulatably connected to the base, and wherein the second end of each of the linear actuators is articulatably connected to the hitting pad platform, to form a parallel manipulator; a control system connected to the plurality of linear actuators adapted to control the position and orientation of the hitting pad platform; and one or more sensors operatively connected to the hitting pad platform and in communication with the control system for sensing impacts to the hitting pad by a user; (b) defining an initial set of operational parameters in the control system, including the position, orientation, and shock absorption rate of each of the hitting pads; (c) causing the user to hit each of the hitting pads; and (d) adjusting the operational parameters of the control system to match or respond to subsequent hits imparted by the user to each of the hitting pads.
 31. The method of claim 30, further comprising continuing to adjust the operational parameters during a training session by a user in response to progress of the user.
 32. The method of claim 30, further comprising adjusting the operational parameters by a remote electronic device in communication with the control system. 